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c0712265d1f9f71998b36502f6249204e4bc5f08
unitreeApp/unitree_SDK/include/unitree/idl/hg/HandCmd_.hpp
Quella f8e4df77fb init
2025-09-24 10:53:28 +08:00

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/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: HandCmd_.idl
Source: HandCmd_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_HG_HANDCMD__HPP
#define DDSCXX_UNITREE_IDL_HG_HANDCMD__HPP
#include "unitree/idl/hg/MotorCmd_.hpp"
#include <cstdint>
#include <array>
#include <vector>
namespace unitree_hg
{
namespace msg
{
namespace dds_
{
class HandCmd_
{
private:
std::vector<::unitree_hg::msg::dds_::MotorCmd_> motor_cmd_;
std::array<uint32_t, 4> reserve_ = { };
public:
HandCmd_() = default;
explicit HandCmd_(
const std::vector<::unitree_hg::msg::dds_::MotorCmd_>& motor_cmd,
const std::array<uint32_t, 4>& reserve) :
motor_cmd_(motor_cmd),
reserve_(reserve) { }
const std::vector<::unitree_hg::msg::dds_::MotorCmd_>& motor_cmd() const { return this->motor_cmd_; }
std::vector<::unitree_hg::msg::dds_::MotorCmd_>& motor_cmd() { return this->motor_cmd_; }
void motor_cmd(const std::vector<::unitree_hg::msg::dds_::MotorCmd_>& _val_) { this->motor_cmd_ = _val_; }
void motor_cmd(std::vector<::unitree_hg::msg::dds_::MotorCmd_>&& _val_) { this->motor_cmd_ = _val_; }
const std::array<uint32_t, 4>& reserve() const { return this->reserve_; }
std::array<uint32_t, 4>& reserve() { return this->reserve_; }
void reserve(const std::array<uint32_t, 4>& _val_) { this->reserve_ = _val_; }
void reserve(std::array<uint32_t, 4>&& _val_) { this->reserve_ = _val_; }
bool operator==(const HandCmd_& _other) const
{
(void) _other;
return motor_cmd_ == _other.motor_cmd_ &&
reserve_ == _other.reserve_;
}
bool operator!=(const HandCmd_& _other) const
{
return !(*this == _other);
}
};
}
}
}
#include "dds/topic/TopicTraits.hpp"
#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
namespace org {
namespace eclipse {
namespace cyclonedds {
namespace topic {
template <> constexpr const char* TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::getTypeName()
{
return "unitree_hg::msg::dds_::HandCmd_";
}
template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::type_map_blob_sz() { return 752; }
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::type_info_blob_sz() { return 148; }
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::type_map_blob() {
static const uint8_t blob[] = {
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};
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::type_info_blob() {
static const uint8_t blob[] = {
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0xe6, 0x00, 0x00, 0x00, };
return blob;
}
#endif //DDSCXX_HAS_TYPE_DISCOVERY
} //namespace topic
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
namespace dds {
namespace topic {
template <>
struct topic_type_name<::unitree_hg::msg::dds_::HandCmd_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::HandCmd_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_hg::msg::dds_::HandCmd_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_hg::msg::dds_::HandCmd_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = uint32_t(instance.motor_cmd().size());
if (!write(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!write(streamer, instance.motor_cmd()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool write(S& str, const ::unitree_hg::msg::dds_::HandCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::HandCmd_>();
str.set_mode(cdr_stream::stream_mode::write, as_key);
return write(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool read(T& streamer, ::unitree_hg::msg::dds_::HandCmd_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = uint32_t(instance.motor_cmd().size());
if (!read(streamer, se_1))
return false;
instance.motor_cmd().resize(se_1);
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!read(streamer, instance.motor_cmd()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool read(S& str, ::unitree_hg::msg::dds_::HandCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::HandCmd_>();
str.set_mode(cdr_stream::stream_mode::read, as_key);
return read(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool move(T& streamer, const ::unitree_hg::msg::dds_::HandCmd_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = uint32_t(instance.motor_cmd().size());
if (!move(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!move(streamer, instance.motor_cmd()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool move(S& str, const ::unitree_hg::msg::dds_::HandCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::HandCmd_>();
str.set_mode(cdr_stream::stream_mode::move, as_key);
return move(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool max(T& streamer, const ::unitree_hg::msg::dds_::HandCmd_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!max(streamer, instance.motor_cmd()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
streamer.position(SIZE_MAX);
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool max(S& str, const ::unitree_hg::msg::dds_::HandCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::HandCmd_>();
str.set_mode(cdr_stream::stream_mode::max, as_key);
return max(str, instance, props.data());
}
} //namespace cdr
} //namespace core
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
#endif // DDSCXX_UNITREE_IDL_HG_HANDCMD__HPP
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